ROS 2.0 on ARM

[marguedas]

@rohbotics

Yeah FreeRTPS is much better, has active development, and is willing to work with OSRF. On the other hand OpenSplice seems like abandon-ware, one of the factors that led to it being dropped.

For the Turtlebot demo I was running, I couldn’t use FreeRTPS due to a performance issue with publishing images (Low bandwith when using FastRTPS · Issue #81 · ros2/rmw_fastrtps · GitHub). I also didn’t want to get into the Connext building/licensing headache.

A small clarification, I think that @rohbotics is referring to Fast-RTPS [1] in this message and not freertps[2] that is not under active development or part of the ROS 2 Continuous Integration for the time being.

Agreed that ROS2 should work on Debian Stretch. We don’t test it actively but if anybody gives it a try, feel free to post feedback here and/or update the instructions on the ros2 wiki Debian instructions[3] if anything is missing or needs to be updated.

[1] GitHub - eProsima/Fast-DDS: The most complete DDS - Proven: Plenty of success cases.
[2] GitHub - ros2/freertps: a free, portable, minimalist, work-in-progress RTPS implementation
[3] GitHub - ros2/ros2: The Robot Operating System, is a meta operating system for robots.